Tool changer

ABSTRACT

An automatic tool changer for use on a machine tool which moves tools in combinations of rectilinear movements between a spindle at a machine head and a rectangular array of compartments, parallel to the spindle axis, at a storage magazine. The storage magazine is mounted on the support of the machine tool to move in unison with the machine head, and includes a plurality of drawers which move at right angles to a pair of tool forks for transferring tools to and from the forks. The forks are independently linearly movable on a carriage which moves between the storage magazine and the machine head. One tool fork carries tools exclusively from the magazine to the spindle, and the other tool fork carries tools exclusively from the spindle to the magazine. The entire tool changer is movable relative to the machine head to insert tools into and withdraw tools from the spindle.

United States Patent 1 Lilienthal et al.

Assignee:

Filed:

TOOL CHANGER lnventors: Alfred J. Lilienthal, Bourbonnais,

111.; Theodore F. Johnson; William E. Petri, Jr.; Charles E. Gilbert, Jr., all of Cincinnati, Ohio Cincinnati Gilbert Machine Tool Co., Cincinnati, Ohio July 15, 1970 Appl. No.: 54,896

US. Cl. 29/568, 214/1 BB [51] B23q 3/157 [58] Field of Search..'. 29/568; 214/1 BB, 214/1 HT [56] References Cited UNITED STATES PATENTS 3,355,798 12/1967 Drechsler 29/568 R25,737 3/1965 Brainard et al. 29/568 3,412,459 11/1968 Hollis 29/568 3,545,075 12/1970 011earo 29/568 3,256,600 6/1966 Swanson et a1... 29/568 3,451,125 6/1969 Lehmkuhl 29/568 3,188,736 6/1965 Brainard et al. 29/568 3,266,141 8/1966 Jacobson et al.. 29/568 19 3. 5... .9.1127 .5??? *2 ?1 .l 3,647,090 3/1972 Suzuki et al. 29/568 x FOREIGN PATENTS oR APPucATioNs 902.069 7/1962 Great Britain 29/568 Primary Examiner-Andrew R. Juhasz Assistant Examiner-Z. R. Bilinsky Attorney-Wood, Herron and Evans 5 7 ABSTRACT An automatic tool changer for use on a machine tool which moves tools in combinations of rectilinear movements between a spindle at a machine head and a rectangular array of compartments, parallel to the spindle axis, at astorage magazine. The storage magazine is mounted on the support of the machine tool to move in unison with the machine head, and includes a plurality of drawers which move at right angles to a pair of tool forks for transferring tools to and from the forks. The forks are independently linearly movable on a carriage which moves between the storage magazine and the machine head. One tool fork carries tools exclusively from the magazine to the spindle, and the other tool fork carries tools exclusively from the spindle to the magazine. The entire tool changer is movable relative to the machine head to insert tools into and withdraw tools from the spindle.

72 Claims, 41 Drawing Figures PAIENI 1150251975 SHEET near 27 PAIENIEU nu: 25 ms SHEET 0B 0? 27 INVENTORS 5 M Zi /J PAlEmEnniczslm SHEET 1 [1F POWER ON IN CYCLE CYR ALSR C ENTER STORAGE STOP / AUTO. TOOL CHG.

CYCLE AUTO CYCLE START [0'22 INVENTORS DOOR IS FULLY OPEN PATENTED DEC 2 5 I975 CY IIS sum 19 0F 27 FOR 2085,2086,2257 I 'A" FORK use n 'B FORK UP T TOOL- LOCK 2339,234l

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1. A tool changer for transporting interchangeable tools between a tool storage matrix and a tool machining support at a machining area of a machine tool, said tool changer being operable in a combination of rectilinear movements to effect a tool interchange, said tool changer comprising: a carrier member relatively movable in a rectilinear path between a transfer area adjacent said storage matrix and said machining area; a tool handling member relatively movable on said carrier in a rectilinear path perpendicular to said path of said carrier; a tool storage support relatively movable between said transfer area and said storage matrix in a rectilinear path perpendicular to the paths of said members; said tool machining support being relatively movable to and from the paths of said members in a rectilinear path parallel to the path of said storage support; and control means operable associated with each of said movements for causing the transfer of a tool between said storage matrix and said tool machining support exclusively by combinations of said movements.
 2. A tool changer according to claim 1 further comprising: a plurality of storage compartments at said storage matrix, said compartments being positioned adjacent different points along said paths of said members; and said control means being operative to position said handling member adjacent a selected one of said compartments by said movements of said members.
 3. A tool changer according to claim 2 wherein: said selected one of said compartments is carried by said tool storage support; and said control means is operable for causing the transferring of a tool between said selected one of said compartments and said tool handling member by the movements of said members and said support.
 4. A tool changer according to claim 2 further comprising: a plurality of tool storage supports including said tool storage support, and each of said storage supports being relatively movable between said transfer area and said storage area in rectilinear path perpendicular to the paths of said members; at least one of said tool storage compartments Being carried by each of said supports; and said control means being operable for transferring a tool between said selected compartment and said tool handling member by the movements of said members and the one of said supports carrying said selected compartment.
 5. A tool changer according to claim 4 wherein: each of said supports carries a plurality of said compartments.
 6. A tool changer according to claim 5 wherein: the movement of one of said members positions said handling member adjacent the one of said supports carrying said selected compartment and the movement of the other of said members positions said handling member adjacent said selected compartment of said one of said supports.
 7. A tool changer according to claim 6 wherein: the movement of said carrier member positions said handling member adjacent said one of said supports and the movement of said handling member positions said handling member adjacent said selected compartment of said one of said supports.
 8. A tool changer according to claim 2 for transporting a tool from said selected compartment at said storage matrix to said tool machining support wherein: said control means is further operative to sequentially effect the transport of a tool from said storage matrix to said transfer area by the movement of said support, and then to effect the transport of said tool from said transfer area to a point adjacent said tool machining support by the combined movements of said members, and then to effect the transfer of said tool to said tool machining support.
 9. A tool changer according to claim 2 for transferring a tool from said tool machining support to said selected compartment at said storage matrix wherein: said control means is further operative to sequentially effect the transfer of a tool from said tool machining support to a point adjacent said tool machining support, and then to effect the transport of said tool from said point to said transfer area by the combined movements of said members, and then to effect the transport of said tool from said transfer area to said selected compartment at said storage matrix by the movement of said tool storage support.
 10. A tool changer according to claim 2 for transporting a tool between a selected compartment at said storage matrix and said tool machining support wherein: said control means is further operative for sequentially causing the transporting of a tool from said storage area to said transfer area by the movement of said tool storage support, and then for causing the transporting of said tool from said transfer area to a point adjacent said tool machining support by the combined movements of said members, and then for causing the transferring of said tool to said tool machining support; and said control means is further operative for causing a transferring of a tool from said tool machining support to a point adjacent said tool machining support, and then for causing the transporting of said tool from said point to said transfer area by the combined movements of said members, and then for causing the transporting of said tool from said transfer area to said selected compartment at said storage matrix by the movement of said tool storage support.
 11. A tool changer according to claim 1 for transporting a tool from said storage matrix to said machining support wherein: said control means is further operative to effect the transporting of a tool from said storage matrix to said transfer area by the movement of said tool storage support, and then for causing the transporting of said tool from said transfer area to a point adjacent said tool machining support by the combined movements of said members, and then for causing the transferring of said tool to said tool machining support.
 12. A tool changer according to claim 2 for transferring a tool from said tool machining support to said storage matrix wherein: said control means is further operative to effect a transfer of a Tool from said tool machining support to a point adjacent said tool machining support, and then to effect the transport of said tool from said point to said transfer area by the combined movements of said members, and then to effect the transport of said tool from said transfer area to said storage matrix by the movement of said tool storage support.
 13. A tool changer according to claim 1 for transporting a tool between said storage matrix and said tool machining support wherein: said control means is further operative to cause the transport of a tool from said storage matrix to said transfer area by the movement of said tool storage support, and then for causing the transport of said tool from said transfer area to a point adjacent said tool machining support by the combined movements of said members, and then for causing the transferring of said tool to said tool machining support; and said control means is further operative to cause a transfer of said tool from said tool machining support to a point adjacent said tool machining support, and then to cause the transport of said tool from said point to said transfer area by the combined movements of said members, and then to cause the transport of said tool from said transfer area to said storage matrix by the movement of said support.
 14. A tool changer according to claim 2 wherein: said compartments are disposed in a rectangular array.
 15. A tool changer according to claim 14 wherein: the movement of one of said members positions said handling member adjacent the one of said supports carrying said selected compartment and the movement of the other of said members positions said handling member adjacent said selected compartment of said one of said supports.
 16. A tool changer according to claim 2 further comprising: a plurality of stops for stopping said handling member adjacent said selected compartment, each of said stops corresponding to different points in the paths of said members, said stops being selectively actuatable to stop a member at one of said points in its path.
 17. A tool changer according to claim 16 wherein: said stops are selectively actuatable to stop both of said members.
 18. A tool changer according to claim 16 wherein: a different set of said stops is associated with each of said members, the stops of each set being selectively actuable to stop the associated member.
 19. A tool changer according to claim 18 wherein: said compartments are disposed in a rectangular array with mutually perpendicular rows parallel to the paths of different members; and said different sets of stops are selectively actuable to stop the associated member in its respective path adjacent one of the perpendicular rows.
 20. A tool changer according to claim 18 further comprising: a plurality of tool storage supports including said tool storage support, each of said storage supports being relatively movable between said transfer area and said storage area in a rectilinear path perpendicular to the paths of said members; each of said supports carrying a plurality of said compartments; said control means being operable for transferring a tool between said selected compartment and said tool handling member by the movements of said members and the one of said supports carrying said selected compartment; and the movement of said carrier member positioning said handling member adjacent said one of said supports and the movement of said handling member positioning said handling member adjacent said selected compartment of said one of said supports.
 21. A tool changer according to claim 1 further comprising: engaging means for the engaging of a tool by said handling member, said engaging means being actuable by the movement of said handling member relative to said tool.
 22. A tool changer according to claim 1 further comprising: engaging means for the engaging of a tool by said storage support, said engaging means being actUable by the movement of said support relative to said tool.
 23. A tool changer according to claim 1 further comprising: handling member engaging means for the engaging of a tool by said handling member; support member engaging means for the engaging of a tool by said support; and both said engaging means being actuable upon the movements of said members and said support.
 24. A tool changer according to claim 23 for transporting a tool from said storage matrix to said machining support further comprising; said control means being further operative for causing: the transporting of a tool from said storage area to said transfer area by the movement of said support, the transferring of said tool from said support to said tool handling member by the movements of said members and said support, then the transporting of said tool from said transfer area to a point adjacent said machining support by the combined movements of said members, and then the transferring of said tool to said machining support.
 25. A tool changer according to claim 23 for transferring a tool from said machining support to said storage matrix further comprising: said control means being further operative for causing: transferring of a tool from said machining support to a point adjacent said machining support, then the transporting of said tool from said point to said transfer area by the combined movements of said members, the transferring of said tool from said tool handling member to said support by the movements of said members and said support, and then the transporting of said tool from said transfer area to said storage matrix by the movement of said support.
 26. A tool changer according to claim 23 for transporting a tool between said storage matrix and said machining support further comprising: said control means being further operative for causing: the transporting of a tool from said storage matrix to said transfer area by the movement of said support, the transferring of said tool from said support to said tool handling member by the movement of said members and said support, and then the transporting of said tool from said transfer area to point adjacent said machining support by the combined movements of said members, and then the transferring of said tool to said machining support; and a transferring of a tool from said machining support to a point adjacent said machining support, and then the transporting of said tool from said point to said transfer area by the combined movements of said members, the transferring of said tool from said tool handling support by the movements of said members and said support, and then the transporting of said tool from said transfer area to said storage matrix by the movement of said support.
 27. A tool changer according to claim 23 further comprising: a plurality of tool storage supports including said tool storage supports, each of said storage supports being relatively movable between said transfer area and said storage area in a rectilinear path perpendicular to the paths of said members; a plurality of storage compartments carried by each of said supports, said compartments positioned adjacent different points along said paths of said members; said control means being operative to position said handling member adjacent a selected one of said compartments by said movements of said members.
 28. A tool changer according to claim 27 wherein: the movement of one of said members positions said handling member adjacent the one of said supports carrying said selected compartment and the movement of the other of said members positions said handling member adjacent said selected compartment of said one of said supportz.
 29. A tool changer according to claim 28 wherein: the movement of said carrier member positions said handling member adjacent said one of said supports and the movement of said handling member positions said handling member adjacent said selected compartment of said one of said supports.
 30. A tool changer according to claim 1 further comprising: a second tool handling member relatively movable on said carrier in a rectilinear path parallel to said path of said first tool handling member.
 31. A tool changer according to claim 30 wherein: one of said tool handling members carries a tool exclusively from said transfer area to said machining area, and the other said members carries a tool exclusively from said machining area to said transfer area.
 32. A tool changer according to claim 31 further comprising: engaging means carried by each of said tool handling members, said engaging means being operable by the relative movements of said handling members relative to a tool.
 33. A tool changer according to claim 26 further comprising: a second tool handling member relatively movable on said carrier in a rectilinear path parallel to said path of said first tool handling member; one of said tool handling members carries a tool exclusively from said transfer area to said machining area, and the other said members carries a tool exclusively from said machining area to said transfer area; and engaging means carried by each of said tool handling members, said engaging means being operable by the relative movements of said handling members relative to a tool.
 34. A tool changer according to claim 13 further conprising: a second tool handling member relatively movable on said carrier in a rectilinear path parallel to said path of said first tool handling member; and one of said tool handling members carries a tool exclusively from said transfer area to said machining area, and the other said members carries a tool exclusively from said machining area to said transfer area.
 35. A tool changer according to claim 31 further comprising: a plurality of tool storage compartments at said storage matrix; and two sets of selectively actuatable stops, one set associated with each of said tool handling members for stopping either of said members adjacent any of said compartments.
 36. A tool changer according to claim 35 further comprising: said storage compartments being disposed in a rectangular array; means for driving one of said tool handling members along said carrier and against an actuated stop of the associated set of stops for positioning said tool handling members adjacent the first row of a selected compartment; a third set of stops actuatable for stopping said carrier; and means for driving said carrier against an actuated stop of said third set for positioning said tool handling member in a second row perpendicular to said first row; both of said driving means positioning said tool handling member adjacent said selected compartment.
 37. A tool changer according to claim 35 wherein: one of said tool handling members carries a tool exclusively from said transfer area to said machining area, and the other of said members carries a tool exclusively from said machining area to said transfer area.
 38. In a tool changer for use with a machine tool, wherein said machine tool includes a work support for supporting a workpiece, a machining support for supporting a tool in a machining operation upon said workpiece, and power drive means for imparting relative movement between said tool and said workpiece during said machining operation, and wherein said tool changer includes a tool storage magazine for storing a plurality of tools therein, and a linearly movable tool transporting member movable in a straight line path of movement between said storage magazine and said machining support for transporting tools therebetween; a plurality of linearly movable tool supports slideable mounted to said storage magazine, each of said supports having a plurality of tool storage compartments carried thereby, each of said supports being selectively slideable in a straight line path of moveMent between a retracted position at a storage area for tool storage and an extended position at a transfer area for transfer of a tool between said tool transporting member and a compartment of said extended support, each of said supports being movable between said retracted position and said extended position independently of any movement of said magazine, said storage area being located near said magazine and said transfer area being located remote from said magazine.
 39. The improvement according to claim 38 wherein said transporting member includes a tool handling member relatively movable in a path perpendicular to the movement of said supports; and said tool handling member is movable to a plurality of points, one adjacent each of said compartments.
 40. The improvements according to claim 39 wherein: said compartments are disposed in a rectangular array within said storage magazine.
 41. The improvement according to claim 39 wherein: said tool transporting member includes a tool carrier member; moveable in a path perpendicular to the movement of said support; said tool handling member is supported on said tool carrier member and moveable thereon in a path different from the path of said carrier member; and said tool handling member is moveable to said points by combinations of the movements of said tool handling member and said tool carrier member.
 42. The improvement according to claim 41 wherein: the movement along one of said paths is effective to move said tool handling member between points adjacent the different supports, and the movement along the other of said paths is effective to move the tool handling member between points adjacent the different compartments of said supports.
 43. The improvement according to claim 42 wherein: the movement of said tool carrier member is effective to move said tool handling member to points adjacent the different supports, and the movement of said tool handling member is effective to move tools between the different compartments of said supports.
 44. The improvement according to claim 42, wherein: said compartments are disposed in a rectangular array and the path of said tool handling member is perpendicular to the path of the tool transporting member.
 45. The improvement according to claim 32 further comprising: tool engaging means carried by said tool handling member and responsive to the relative movement of said tool handling member; and tool engaging means carried by said supports and responsive to the movement of said supports.
 46. The improvement according to claim 45 wherein: said tool handling member engaging means is responsive to the movement of said tool transporting member.
 47. The improvement according to claim 46 wherein: the movement of said tool handling member is perpendicular to the movement of tool transporting member and the storage compartments are disposed in a rectangular array within said storage magazine.
 48. The improvement according to claim 42 further comprising: tool engaging means carried by said tool handling member and responsive to the relative movement of said tool handling member; and tool engaging means carried by said supports and responsive to the movement of said supports; and a plurality of selectively actuable stops including a first set of stops disposed at different points along one of said paths adjacent each of said supports, and a second set of stops disposed at different points along the other of said paths adjacent the different compartments of said supports.
 49. The improvement according to claim 48 wherein: said paths are mutually perpendicular, and the compartments of the storage magazine are disposed in a rectangular array.
 50. The improvement according to claim 49 wherein: the movement of said tool carrier member moves said tool handling member between points adjacent compartments of different supports.
 51. The improvement according to claim 50 further compRising: tool engaging means carried by said tool handling member and responsive to the relative movement of said tool handling member; and tool engaging means carried by said supports and responsive to the movement of said supports.
 52. In a tool changer for use with a machine tool, wherein said machine tool includes a work support for supporting a workpiece, a machining support for supporting a tool in a machining operation upon said workpiece, and power drive means for imparting relative movement between said tool and said workpiece in said machining operation, and wherein said tool changer includes a tool storage magazine having a plurality of tool storage compartments therein and a tool transporting member movable between said storage magazine and said machining support for transporting tools therebetween; the improvement comprising: a tool handling member; means for moving said tool handling member relative to said storage magazine in any one of a plurality of paths, each of said paths passing a different combination of more than one of said storage compartments and defining a plurality of different tool transfer points along said paths; and a plurality of tool supports movably mounted at said storage area, each of said supports being selectively movable between a retracted position within said storage magazine, and an extended position to bring a compartment into at least one of said paths to a transfer point for transfer of a tool between said tool transporting member and said compartment.
 53. The improvement according to claim 52 further comprising; means for selectively moving said tool handling member in a selected one of said paths; and means for selectively stopping said tool handling member adjacent a selected one of tool storage compartments along said path.
 54. The improvement according to claim 53 further comprising: a carrier member movable along said paths; said tool handling member being movable between said paths; and said stopping means including a plurality of selectively actuatable stops to stop said tool handling member in a selected one of said paths, and effective to stop said carrier member at a selected one of said compartments along said selected path.
 55. The improvement according to claim 52 wherein: said compartments are arranged in rectangular array within said storage magazine, said paths correspond to different parallel rows of said array.
 56. The improvement according to claim 53 wherein: said compartments are arranged in rectangular array within said storage magazine, said paths correspond to different parallel rows of said array.
 57. The improvement according to claim 54 wherein: said compartments are arranged in rectangular array within said storage magazine, said paths correspond to different parallel rows of said array.
 58. The improvement according in claim 57 wherein: the compartments of each of the rows of said array which are perpendicular to said paths are movable together to bring each compartment of said row into a different one of said paths.
 59. The improvement according to claim 52 wherein said tool handling member further comprises: engaging means operable upon the movement of said tool handling member along one of said paths.
 60. The improvement according to claim 52 further comprising: engaging means carried by said supports for engaging the tool in response to a movement of said supports.
 61. The improvement according to claim 59 further comprising: engaging means carried by said supports for engaging a tool in response to the movement of said supports in a direction perpendicular to said paths.
 62. The improvement according to claim 57 further comprising: engaging means carried by said supports for engaging a tool in response to the movement of said supports in a direction perpendicular to said paths.
 63. In a tool changer for use with a machine tool, wherein said machiNe tool includes a work support for supporting a workpiece, a machining support for supporting a tool in a machining operation upon said workpiece, and power drive means for imparting relative movement between said tool and said workpiece in a machining operation, and wherein said tool changer includes a tool storage magazine for storing a plurality of tools therein, and a tool carrier linearly movable in a straight line path of movement between said storage magazine and said machining support for transporting tools therebetween; and a pair of tool handling members linearly movable in a straight line path of movement upon said carrier and independently movable with respect to each other for engaging and supporting tools for movement with said carrier.
 64. The improvement according to claim 63 wherein: one of said tool handling members carries tools exclusively from said storage magazine to said machining support and the other of said tool handling members carries tools exclusively from said machining support to said storage magazine.
 65. The improvement according to claim 63 further comprising: engaging means carried by said tool handling members and responsive to the movement of said tool handling member relative to a tool for engaging and disengaging said tool.
 66. The improvement according to claim 64 further comprising: engaging means carried by said tool handling members and responsive to the movement of said tool handling member relative to a tool for engaging and disengaging said tool.
 67. The improvement according to claim 65 wherein: said tool tool engaging means is responsive to the movement of said carrier relative to a tool.
 68. The claim according to claim 67 wherein: one of said tool handling members carries tools exclusively from said storage magazine to said machining support and the other of said tool handling members carries tools exclusively from said machining support to said storage magazine.
 69. In a tool changer for use with a machine tool, wherein said machine tool includes a work support for supporting a workpiece, a machine head having rotatably mounted therein a spindle for supporting a tool in a machining operation upon said workpiece, and power drive means connected between said spindle and said machine head for rotating said spindle to move said tool in a machining operation upon said workpiece, and wherein said tool changer includes a tool storage magazine for storing a plurality of tools therein, and a tool transporting member movable between said storage magazine and said machine head for transporting tools therebetween; the improvement comprising: means carried by said transporting member for receiving a tool in a single predetermined orientation, retaining said received tool in said predetermined orientation while transporting said tool, and presenting said transported tool in said predetermined orientation; means carried by said machine head for presenting to and receiving from said transporting member, a tool in said predetermined orientation, including means for stopping said spindle in a predetermined angular position; and means carried by said storage magazine for receiving a tool from said transporting member in said predetermined orientation, retaining said received tool in said predetermined orientation while storing said tool, and presenting said stored tool in said predetermined orientation to said transporting member.
 70. The improvement according to claim 69 wherein: said tool changer employs exclusively rectalinear movements.
 71. In a tool changer for use with a machine tool, wherein said machine tool includes a work support for supporting a workpiece, a machine head for supporting a tool in a machining operation upon said workpiece, and power drive means for imparting relative movement between said tool and said workpiece in a machining operation; and, wherein said tool changer includes a tool storage magazine for stoRing a plurality of tools therein with their axes parallel to the axis of the tool supported by said machine head; the improvement comprising; a tool transporting member relatively movable between a storage transfer region adjacent said storage magazine and a machine head transfer region adjacent said machine head, said member being movable in a plane perpendicular to the axis of a tool supported by said machine head to effect transfer of a tool between said two regions; said member being relatively rectilinearly movable into and out of engagement with tools upported at both of said regions; means for imparting relative rectilinear movement between said machine head and said member for relatively moving said machine head axially into and out of engagment in said plane, with a tool supported by said transporting member; and means for imparting rectilinear movement to said storage magazine for moving said storage magazie axially into and out of engagment in said plane, with a tool supported by said transporting member.
 72. In a tool changer for use with a machine tool, wherein said machine tool includes a work support for supporting a workpiece, a machine head for supporting a tool in a machining operation upon said workpiece, and power drive means for imparting relative movement between said tool and said workpiece in a machining operation, and wherein said tool changer includes a tool storage magazine for storing a plurality of tools, therein; the improvement comprising: a tool transporting member relatively movable between a storage transfer region adjacent said storage magazine and a machine head transfer region adjacent said machine head, said member being movable in a plane perpendicular to the axis of a tool supported by said machine head, said member being movable in said plane to a plurality of tool transfer points distributed along both dimensions of said plane at at least one of said regions; means for moving a tool axially and parallel to said axis between said plane and a storage area within said storage magazine; and means for transferring a tool between said machine head and said transporting member at said machine head transfer region. 